CN109798866A - The determination method of relative attitude and mass center relative position between cabin - Google Patents
The determination method of relative attitude and mass center relative position between cabin Download PDFInfo
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Abstract
The present invention relates to the determination methods of relative attitude and mass center relative position between the cabin of technical field between double super satellite capsules, step 1, direction cosine matrix and relative attitude angle of the load cabin relative to platform cabin are obtained according to the output for the star sensor being mounted in load cabin and platform cabin；Step 2, the theoretical output expression formula of each position sensor is obtained；Step 3, the theoretical output of position sensor is expressed as matrix product form, mass center relative position between acquiring two bay section of satellite of inverting；Step 4, it resolves to obtain the relative attitude between two cabin of satellite and mass center relative position using the output expression formula of six position sensors.The problem of present invention solves the posture information for making full use of the star sensor for being separately mounted to two bay section of satellite to export in the case where configuring less non-contact position sensor, determines the relative attitude and mass center Relative position vector in satellite platform cabin and load cabin.
Description
Technical field
The present invention relates to technical fields between double super satellite capsules, more particularly to relative attitude between a kind of cabin and mass center with respect to position
The determination method set.
Background technique
With the development of space technology, tasks of science load proposes higher want to the pointing accuracy and stability of satellite
It asks.Conventional satellite platform is due to the unstability and solar array iso-deflection that are rotated by rotatable parts such as space environment, flywheels
Property component vibration caused by interference, improving on satellite pointing accuracy and stability has serious influence.Vibration isolation traditional simultaneously
System to only to the interference in partial frequency range have preferable vibration isolating effect, to other frequencies vibration vibration isolating effect compared with
Difference, it is therefore desirable to develop a kind of double super satellite platforms to completely new superelevation pointing accuracy and stability.
To realize fully vibration isolation, designs and completely non-connect is realized by the floating actuator of magnetic between satellite platform cabin and load cabin
Touch separation, rotatable parts and mechanism with flexible elements are all mounted on platform cabin, and payload is mounted in load cabin, floating by magnetic
Actuator realizes relative attitude and the control of mass center relative position between bay section.To avoid introducing contact disturbance, connect between two cabins by non-
Touch current vortex position sensor measures two cabins and corresponds to the relative distance between mounting surface, in conjunction with the relative attitude between two cabins, solution
Calculation obtains the relative position of two cabin mass centers, provides relative position and relative velocity feedback for control system.
Through the retrieval to the prior art, application No. is 201610843258.7 Chinese invention patents to disclose between a kind of cabin
It separates relative position and attitude measurement method and the relative position separated between cabin and posture is quickly provided using stay-supported sensor
Measurement result specifically includes step 1: building measuring system, 3 stay-supported type displacement sensors a, b, c are evenly distributed on radius
For on the bay section parting surface circumference of R；Wherein displacement sensor a, b, c includes fixing end and movable end, and fixing end and movable end are logical
It crosses bracing wire connection and is separately mounted on the parting surface of two neighboring bay section；Step 2: spacecraft separates rank between space middle deck
Section, as the relative position and relative attitude of bay section separation change, fixing end and the movable end separation of displacement sensor are drawn
Line is drawn out, while bracing wire length la, lb and lc of movable end record displacement sensor a, b, c；Step 3: according to la, lb and lc
Length calculate bay section separation relative position and relative attitude.Although what the patent can be quick, quantitative simultaneously provides cabin
The relative position of section separation process and relative attitude metrical information, but and do not solve in the less non-contact position sensor of configuration
In the case where, it is difficult to the posture information exported using the star sensor for being separately mounted to two bay section of satellite can not determine that satellite is flat
The problem of relative attitude and mass center Relative position vector of platform cabin and load cabin.
Therefore, it is necessary to design one kind in the case where configuring less non-contact position sensor, can make full use of
It is separately mounted to the posture information of the star sensor output of two bay section of satellite, and determines the opposite of satellite platform cabin and load cabin
The determination method of relative attitude and mass center relative position between the cabin of the problem of posture and mass center Relative position vector.
Summary of the invention
In view of the drawbacks of the prior art, the object of the present invention is to provide relative attitude between a kind of cabin and mass center relative positions
Determine that method, the present invention can make full use of the posture information for being separately mounted to the star sensor output of two bay section of satellite, and
Relative attitude and mass center between the cabin for the problem of determining the relative attitude and mass center Relative position vector in satellite platform cabin and load cabin
The determination method of relative position.
The present invention relates to relative attitudes between a kind of cabin and mass center relative position to determine method, includes the following steps:
Step 1, according to the output of platform cabin star sensor and the star sensor of load cabin resolve to obtain load cabin relative to
The direction cosine matrix in platform cabin and relative attitude angle；
Step 2, it is being carried according to the component array and target point that position sensor probe is installed under platform cabin coordinate system
The component array installed under the coordinate system of lotus cabin lists three positions used of main part in conjunction with the relative attitude angle that step 1 is calculated
Set the theoretical output expression formula of sensor；
Step 3, it is contemplated that relative attitude angle and relative position movement between load cabin and platform cabin are in a small amount, to ignore two
The second order that person is multiplied is a small amount of, and the expression formula that step 2 is obtained turns to the expression formula of matrix form, and two bay section mass centers can be obtained by inverting
Relative position vector；
Step 4, in the case where star sensor fault, three position sensors of backup are enabled, in conjunction with three of main part
Position sensor is 6 rank matrix expressions according to step 3 abbreviation, invert relative attitude and mass center between can simultaneously obtain two cabins
Relative position.
Further, it is only necessary to which three non-contact position sensors can calculate satellite platform cabin and load cabin matter
The Relative position vector of the heart.
Further, it installs in body coordinate system of the position sensor along platform cabin, is installed in parallel on each change in coordinate axis direction
Two, totally six, wherein part uses based on three, the other three is backup installation.
Further, the opposite appearance obtained under normal circumstances by three position sensor combination star sensors of main part
State resolves mass center relative position；It resolves to obtain relative attitude and matter using six position sensors simultaneously in star sensor fault
The Relative position vector of the heart.
Further, the installation of six position sensors has diversified forms, installs along three change in coordinate axis direction, can also be with
Redundancy is improved using mounting means such as angle mounts.
Further, the relative attitude in load cabin and platform cabin can resolve to obtain by the output of star sensor, but
Follow-up location resolving is carried out again after can obtaining relative attitude by other angle-measuring equipments.
Further, the step 1 includes the following steps:
Step 1.1, it resolves to obtain load cabin coordinate body seat according to the output of load cabin star sensor and installation quaternary number
Attitude quaternion of the mark system relative to inertial coodinate system
Step 1.2, it resolves to obtain platform cabin coordinate system with installation matrix according to the output of platform cabin star sensor opposite
In the attitude quaternion of inertial coodinate system
Step 1.3, the quaternary number and platform cabin coordinate system phase in conjunction with load cabin coordinate system relative to inertial coodinate system
The quaternary number Q for obtaining load cabin relative to platform cabin is resolved for the quaternary number of inertial coodinate systemPL:
Step 1.4, according to opposite quaternary number can be obtained platform cabin to load cabin direction cosine matrix CPLWith attitude angle and
Relative attitude angle φ, θ, ψ.
Further, the step 2 specifically:
According to each position sensor initial measurement and the coordinate components under load cabin coordinate system, in conjunction between two cabins
To list the theoretical output expression formula of each position sensor be attitude angle (φ, θ, ψ) and mass center relative position phase at relative attitude angle
The expression formula for obtaining variable quantity (x, y, z) for initial value is as follows:
It inverts the variable quantity of mass center relative position between can obtaining two cabins.
Further, the step 3 specifically:, can be proper in conjunction with the relative position in initial platform cabin and load cabin mass center
Relative position vector between the mass center of preceding two cabin.
Further, the step 4 specifically: when star sensor fault or mission requirements, by enabling backup
Three position sensors list the state equation of matrix form expression in conjunction with the output for the position sensor that three main parts use,
Ignore that second order is a small amount of, invert can obtain relative attitude and the variation of mass center relative position matrix expression it is as follows:
It, can be by inverting while obtaining as long as ensuring that the matrix K of the installation matrix composition of six position sensors is reversible
Relative attitude and mass center relative position variable quantity of the load cabin relative to platform cabin are as follows:
X=K-1H。
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, between cabin of the invention relative attitude and mass center relative position determination method, solve configure it is less non-contact
In the case where formula position sensor, the posture information for being separately mounted to the star sensor output of two bay section of satellite is made full use of, really
The problem of determining the relative attitude and mass center Relative position vector in satellite platform cabin and load cabin；
2, between cabin of the invention relative attitude and mass center relative position determination method, based between satellite capsule position pass
On sensor and star sensor, it is determined that relative attitude and mass center relative position between two cabins, this method is simple, reliable operation, knot
Fruit is accurate；
3, between cabin of the invention relative attitude and mass center relative position determination method, it is thus only necessary to three contactless positions
The Relative position vector in satellite platform cabin and load cabin mass center can be calculated by setting sensor, and the cost of this method is low, work
It is high-efficient.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is that relative position determines method in the heart for a kind of cabin interstitial based on current vortex position sensor and star sensor
Implementation flow chart；
Fig. 2 is a kind of installation diagram of typical six position sensors.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
In the present embodiment, the determination method of relative attitude and mass center relative position, includes the following steps: between cabin of the invention
Step 1, according to the output of platform cabin star sensor and the star sensor of load cabin resolve to obtain load cabin relative to
The direction cosine matrix in platform cabin and relative attitude angle；
Step 2, it is being carried according to the component array and target point that position sensor probe is installed under platform cabin coordinate system
The component array installed under the coordinate system of lotus cabin lists three positions used of main part in conjunction with the relative attitude angle that step 1 is calculated
Set the theoretical output expression formula of sensor；
Step 3, it is contemplated that relative attitude angle and relative position movement between load cabin and platform cabin are in a small amount, to ignore two
The second order that person is multiplied is a small amount of, and the expression formula that step 2 is obtained turns to the expression formula of matrix form, and two bay section mass centers can be obtained by inverting
Relative position vector；
Step 4, in the case where star sensor fault, three position sensors of backup are enabled, in conjunction with three of main part
Position sensor is 6 rank matrix expressions according to step 3 abbreviation, invert relative attitude and mass center between can simultaneously obtain two cabins
Relative position.
Next the present invention is described in detail.
The object of the present invention is to provide the determination methods of relative attitude between a kind of cabin and mass center relative position, and the present invention can
The posture information for being separately mounted to the star sensor output of two bay section of satellite is made full use of, and determines satellite platform cabin and load
The determination method of relative attitude and mass center relative position between the cabin of the problem of relative attitude and mass center Relative position vector in cabin.
Initially set up satellite platform cabin coordinate system OpXpYpZpAre as follows: OpFor platform cabin mass center, Xp,Yp,ZpAxis is respectively and platform
Three reference axis of cabin mechanical coordinate system are parallel；Load cabin coordinate system is OLXLYLZLAre as follows: OLFor load cabin mass center, in platform cabin
With X under load cabin locking stateL,YL,ZLAxis is parallel with three reference axis of platform cabin coordinate system respectively；According to platform cabin star
Quaternary number of the inertial coodinate system of sensor output to platform cabin star sensor coordinate systemSystem arrives with star sensor mounting coordinate
The installation quaternary number of platform cabin coordinate systemQuaternary number of the platform cabin coordinate system relative to inertial coodinate system is calculated
Are as follows:
Equally, according to the quaternary number of the inertial coodinate system of load cabin star sensor output to load cabin star sensor coordinate systemWith the installation quaternary number of star sensor coordinate system to load cabin coordinate systemIt is opposite that load cabin coordinate system is calculated
In the quaternary number of inertial coodinate system are as follows:
Quaternary number of the load cabin coordinate system relative to platform cabin coordinate system can be calculated according to formula 1 and formula 2 are as follows:
Then direction cosine matrix of the load cabin relative to platform cabin can be obtained according to 3 are as follows:
Wherein QPL=(q0；q1；q2；q3), under low-angle hypothesis, attitude angle of the load cabin relative to platform cabin can be obtained are as follows:
If three position sensor initial target points along the installation of platform body coordinate system change in coordinate axis direction are under load system
Coordinate beUnder original state position sensor output Relative position vector be
(x0；y0；z0), load cabin mass center is relative to component array of the relative position change vector under platform cabin of platform cabin mass center
(x；y；Z), then the output expression formula of position sensor in the x-direction can be obtained are as follows:
The output expression formula of position sensor in the y-direction are as follows:
The output expression formula of position sensor in the z-direction are as follows:
In conjunction with the output of the three direction upper position sensors of attitude angle and x, y, z obtained in step 2 by star sensor
Expression formula (6), formula (7) and formula (8), are represented by following matrix form:
Matrix C is direction cosine matrix of the small platform cabin coordinate system of low-angle to load cabin coordinate system in formula (9), then
It can obtain:
X=CTΓ (11)
Meanwhile if the second order for ignoring angles and positions variation product is a small amount of, Γ can be further simplified in formula (9) are as follows:
It, can be by between the output while determining two cabins of six position sensors if six position sensors are all normal
Relative attitude and mass center relative position, the output of three position sensors of backup are as follows:
Comprehensively consider formula (9) and formula (12), and do not consider that the second order of change in location and relative attitude angle product is a small amount of, has:
It then only needs in position sensor placement, design matrix K is invertible matrix, then can obtain quantity of state are as follows:
X=K-1H (15)
In addition to using the layout type of six above-mentioned position sensors, using three position along change in coordinate axis direction installation
Sensor add again the position sensor of an angle mount equally can backup under any one fault condition, but need to angle mount position
The reflecting surface for setting sensor is reasonably designed.
In conclusion between cabin of the invention relative attitude and mass center relative position determination method, solve configuration compared with
In the case where few non-contact position sensor, the posture for being separately mounted to the star sensor output of two bay section of satellite is made full use of
Information, the problem of determining the relative attitude and mass center Relative position vector in satellite platform cabin and load cabin；Between based on satellite capsule
Position sensor and star sensor on, it is determined that relative attitude and mass center relative position between two cabins, this method is simple, work
Reliably, as a result accurately；It is only necessary to three non-contact position sensors can calculate satellite platform cabin and load cabin matter
The cost of the Relative position vector of the heart, this method is low, and work efficiency is high.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. relative attitude and mass center relative position determine method between a kind of cabin, which comprises the steps of:
Step 1, resolve to obtain load cabin relative to platform according to the output of platform cabin star sensor and the star sensor of load cabin
The direction cosine matrix in cabin and relative attitude angle；
Step 2, the component array and target point installed under platform cabin coordinate system according to position sensor probe are in load cabin
The component array installed under coordinate system is listed the position that main part three uses and is passed in conjunction with the relative attitude angle that step 1 is calculated
The theoretical output expression formula of sensor；
Step 3, it is contemplated that relative attitude angle and relative position movement between load cabin and platform cabin are in a small amount, to ignore the two phase
The second order multiplied is a small amount of, and the expression formula that step 2 is obtained turns to the expression formula of matrix form, and the opposite of two bay section mass centers can be obtained by inverting
Position vector；
Step 4, in the case where star sensor fault, three position sensors of backup are enabled, in conjunction with three positions of main part
Sensor is 6 rank matrix expressions according to step 3 abbreviation, invert relative attitude and mass center between can simultaneously obtain two cabins it is opposite
Position.
2. relative attitude and mass center relative position determine method between cabin according to claim 1, which is characterized in that only need
Three non-contact position sensors can calculate the Relative position vector in satellite platform cabin and load cabin mass center.
3. relative attitude and mass center relative position determine method between cabin according to claim 2, which is characterized in that in position
Body coordinate system of the sensor along platform cabin is installed, and installs two in parallel on each change in coordinate axis direction, and totally six, wherein based on three
Part uses, and the other three is backup installation.
4. relative attitude and mass center relative position determine method between cabin according to claim 3, which is characterized in that normal
In the case of the relative attitude that is obtained by three position sensor combination star sensors of main part resolve mass center relative position；In star
It resolves to obtain the Relative position vector of relative attitude and mass center using six position sensors simultaneously when sensor failure.
5. relative attitude and mass center relative position determine method between cabin according to claim 4, which is characterized in that six positions
The installation for setting sensor has diversified forms, installs along three change in coordinate axis direction, can also be improved using mounting means such as angle mounts
Redundancy.
6. relative attitude and mass center relative position determine method between cabin according to claim 1, which is characterized in that load cabin
It can resolve to obtain by the output of star sensor with the relative attitude in platform cabin, but can also be obtained by other angle-measuring equipments
Follow-up location resolving is carried out after relative attitude again.
7. relative attitude and mass center relative position determine method between cabin according to claim 1, which is characterized in that the step
Rapid 1 includes the following steps:
Step 1.1, it resolves to obtain load cabin coordinate body coordinate system according to the output of load cabin star sensor and installation quaternary number
Attitude quaternion relative to inertial coodinate system
Step 1.2, resolve to obtain platform cabin coordinate system relative to used according to the output of platform cabin star sensor and installation matrix
The attitude quaternion of property coordinate system
Step 1.3, in conjunction with load cabin coordinate system relative to inertial coodinate system quaternary number and platform cabin coordinate system relative to
The quaternary number of inertial coodinate system resolves the quaternary number Q for obtaining load cabin relative to platform cabinPL:
Step 1.4, according to opposite quaternary number can be obtained platform cabin to load cabin direction cosine matrix CPLWith attitude angle and opposite
Attitude angle φ, θ, ψ.
8. relative attitude and mass center relative position determine method between cabin according to claim 7, which is characterized in that the step
Rapid 2 specifically:
According to each position sensor initial measurement and the coordinate components under load cabin coordinate system, in conjunction with the phase between two cabins
To the theoretical output expression formula that attitude angle lists each position sensor be attitude angle (φ, θ, ψ) and mass center relative position relative to
The expression formula that initial value obtains variable quantity (x, y, z) is as follows:
It inverts the variable quantity of mass center relative position between can obtaining two cabins, wherein Sx1For the output table of position sensor in the x-direction
Up to formula, Sy1For the output expression formula of position sensor in the y-direction, Sz1It is expressed for the output of position sensor in the z-direction
Formula, C are direction cosine matrix of the load cabin relative to platform cabin.
9. relative attitude and mass center relative position determine method between cabin according to claim 8, which is characterized in that the step
Rapid 3 specifically: in conjunction with the relative position in initial platform cabin and load cabin mass center, the relative position arrow between currently two cabin mass centers can be obtained
Amount.
10. relative attitude and mass center relative position determine method between cabin according to claim 1, which is characterized in that described
Step 4 specifically: when star sensor fault or mission requirements, by enabling three position sensors of backup, in conjunction with three
The output for the position sensor that a main part uses lists the state equation of matrix form expression, ignores that second order is a small amount of, and inverting can obtain
Relative attitude and the matrix expression of mass center relative position variation are as follows:
It, can be by inverting while obtaining load as long as ensuring that the matrix K of the installation matrix composition of six position sensors is reversible
Relative attitude and mass center relative position variable quantity of the cabin relative to platform cabin are as follows:
X=K-1H, wherein K is design matrix.
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